A modular sorting pendulum machine operation control method and device

Abstract

The present invention discloses an operation control method and device for a modular sorting pendulum machine, which relates to the field of automatic sorting technology. The method comprises: dividing the sorting pendulum machine into functional modules. Acquire transmission data, preset shooting parameters to perform image data acquisition of products to be sorted, and establish a data set of products to be sorted. Determine the target sorting channel according to the label data in the data set. Read the weight data of the products to be sorted on the conveyor belt, and obtain the weight data reading result. Perform balance wheel sorting path fitting according to the product safety level, position data and target channel, and establish a path fitting result. Input the path fitting result and weight data into the balance wheel cooperative control network, generate the balance wheel cooperative control result, including multiple independently controlled balance wheel response angles and rotation speeds, and execute the operation control of the sorting pendulum machine. The technical effect of improving configuration flexibility and reducing operation upgrade costs is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic sorting, and in particular to an operation control method and device of a modular sorting pendulum machine. Background Art

[0002] Modular sorting pendulum machine is an automated sorting equipment, commonly used in logistics centers, express sorting centers and other occasions. It can sort items (such as mail, parcels, etc.) to different exits or destinations according to preset rules. Existing sorting pendulum machines usually adopt fixed control strategies to control the movement of the pendulum according to preset programs to sort items to designated exits. It is difficult to adapt to products of different grades and sorting requirements, and it is difficult to reconfigure. There are technical problems such as low configuration flexibility and high maintenance and upgrade costs. Summary of the invention

[0003] The present invention provides an operation control method and device for a modular sorting pendulum machine to solve the technical problems of low configuration flexibility and high maintenance and upgrade costs in the prior art, thereby achieving the technical effect of improving configuration flexibility and reducing operation and upgrade costs.

[0004] In a first aspect, the present invention provides an operation control method of a modular sorting pendulum machine, wherein the method comprises:

[0005] Performing functional module division on the sorting balance wheel machine and establishing a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled balance wheels;

[0006] Acquire the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results;

[0007] Calling the label data in the data set of the product to be sorted, and determining the target sorting channel based on the label data;

[0008] Calling the product position data in the sorting product data set, and reading the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result;

[0009] Acquiring a product safety level of the product to be sorted based on the label data, performing balance wheel sorting path fitting based on the product safety level, the product location data and the target sorting channel, and establishing a balance wheel sorting path fitting result;

[0010] Inputting the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result to generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds;

[0011] The operation control of the sorting balance machine is performed based on the balance cooperative control result.

[0012] In the method, by dividing the sorting pendulum machine into an identification function module and a sorting function module, a clear division of the functions of the sorting pendulum machine is achieved, which helps to better understand and manage the various function modules of the sorting pendulum machine.

[0013] In the method, by acquiring data transmitted by the conveyor belt and presetting the shooting parameters of the recognition function module based on the data, automatic recognition and image data collection of the products to be sorted are achieved, thereby improving recognition efficiency and accuracy.

[0014] In this method, the product safety level, product location data and target sorting channel are used, combined with the balance wheel sorting path fitting, to achieve intelligent sorting path planning for the products to be sorted. This intelligent path planning can complete the sorting task more quickly and accurately.

[0015] In this method, the idea of ​​adaptability and intelligence is adopted. According to the data transmitted by the conveyor belt and the characteristics of the products to be sorted, the applicable sorting path and balance wheel control parameters are dynamically selected, so as to complete the sorting task more effectively.

[0016] In a second aspect, the present invention further provides an operation control device for a modular sorting pendulum machine, wherein the device comprises:

[0017] A module division component, the module division component is used to divide the sorting pendulum machine into functional modules and establish a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled pendulums;

[0018] An image data acquisition component, which is used to obtain the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results;

[0019] A channel configuration component, the channel configuration component is used to call the label data in the product data set to be sorted, and determine the target sorting channel based on the label data;

[0020] A product characteristic acquisition component, the product characteristic acquisition component is used to call the product position data in the sorting product data set, and read the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result;

[0021] A balance wheel sorting path fitting component, the balance wheel sorting path fitting component is used to obtain the product safety level of the product to be sorted based on the label data, perform balance wheel sorting path fitting based on the product safety level, the product position data and the target sorting channel, and establish a balance wheel sorting path fitting result;

[0022] A balance wheel cooperative control component, the balance wheel cooperative control component is used to input the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result, and generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds;

[0023] An operation control execution component is used to execute the operation control of the sorting balance wheel machine based on the balance wheel cooperative control result.

[0024] The present invention discloses an operation control method and device of a modular sorting pendulum machine, comprising: dividing the sorting pendulum machine into functional modules, including identification and sorting functional modules. The sorting functional module includes N independently controlled pendulum wheels. The data transmitted by the conveyor belt is obtained, and the shooting parameters of the identification functional module are preset using these data, and the image data of the products to be sorted are collected through the identification functional module to establish a data set of products to be sorted. The target sorting channel is determined using the label information in the data set. The product position data and weight data are obtained to determine the safety level of the product, and the pendulum wheel sorting path is fitted according to this information and the target channel. The fitting results and weight data are input into the pendulum wheel cooperative control network to generate the cooperative control results of the pendulum wheel, including the response angle and rotation speed of each pendulum wheel. The operation control of the sorting pendulum machine is performed according to these results. The operation control method and device of a modular sorting pendulum machine disclosed by the present invention solve the technical problems of low configuration flexibility and high maintenance and upgrade costs, and achieve the technical effects of improving configuration flexibility and reducing operation and upgrade costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of an operation control method of a modular sorting pendulum machine of the present invention;

[0026] Figure 2 It is a structural schematic diagram of an operation control device of a modular sorting pendulum machine of the present invention.

[0027] Explanation of the reference numerals: module division component 11, image data acquisition component 12, channel configuration component 13, product characteristic acquisition component 14, balance wheel sorting path fitting component 15, balance wheel collaborative control component 16, operation control execution component 17. DETAILED DESCRIPTION

[0028] The technical solution provided in the embodiments of the present invention is to solve the technical problems of low configuration flexibility and high maintenance and upgrade costs in the prior art. The overall idea adopted is as follows:

[0029] First, the function module of the sorting balance wheel machine is divided, and the function module division result is established, including the identification function module and the sorting function module, wherein the sorting function module includes N independently controlled balance wheels. Then, the transmission data of the conveyor belt is obtained, the shooting parameters of the identification function module are preset according to the transmission data, and the image data of the products to be sorted are collected through the identification function module to establish a data set of products to be sorted. Then, the label data in the data set of products to be sorted is called to determine the target sorting channel. Then, the product position data in the sorting product data set is called, and the weight data of the products to be sorted on the conveyor belt is read at the same time to obtain the weight data reading result. Next, the product safety level of the products to be sorted is obtained based on the label data, and the balance wheel sorting path fitting is performed in combination with the product safety level, product position data and target sorting channel to obtain the balance wheel sorting path fitting result. Then, according to the balance wheel sorting path fitting result and the weight data reading result, the balance wheel cooperative control network is input to generate the balance wheel cooperative control result, including the response angle and balance wheel speed of N independently controlled balance wheels. Finally, according to the balance wheel cooperative control result, the operation control of the sorting balance wheel machine is executed.

[0030] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all of them.

[0031] Embodiment 1

[0032] Figure 1 The present invention is a flowchart of an operation control method of a modular sorting pendulum machine; wherein, it includes:

[0033] Performing functional module division on the sorting balance wheel machine and establishing a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled balance wheels;

[0034] Optionally, the various parts and functions of the sorting pendulum machine are analyzed and classified to better understand the functional distribution form of the sorting pendulum machine and determine the modules that can be independently controlled and operated. Among them, the recognition function module is used to identify the characteristics or attributes of the objects to be sorted for subsequent sorting operations. Including various sensors, cameras or other devices to obtain information such as the shape, color, size, etc. of the object. The sorting function module is used to sort the objects according to the information provided by the recognition function module.

[0035] Furthermore, the sorting function module includes N independently controlled balance wheels, each of which can independently control movement to achieve object sorting. Specifically, each balance wheel is responsible for a specific sorting area, and multiple independently controlled balance wheels relay to achieve object delivery and sorting.

[0036] Through the above-mentioned functional module division, the workflow of the sorting pendulum machine can be decomposed into smaller modules, which helps to better understand the working principle and optimized design of the sorting pendulum machine.

[0037] Acquire the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results;

[0038] Specifically, the conveyor belt cooperates with the input end of the sorting swing machine, and the target product is transferred to the sorting swing machine through the conveyor belt for sorting operation. Among them, the conveyor belt transmission data refers to the transmission speed, transmission direction and other information of the conveyor belt, and the conveyor belt transmission data is used to preset the shooting parameters of the recognition function module.

[0039] Optionally, based on the data transmitted by the conveyor belt, the shooting parameters of the recognition function module are preset, including adjusting the focal length, exposure time, ISO and other parameters of the camera to ensure that the products to be sorted can be clearly photographed.

[0040] Optionally, based on pre-set shooting parameters, the image data of the products to be sorted in the transmission process is collected through the recognition function module to obtain image data. Then, the results of the image data collection are sorted and the collected image data are processed and analyzed to extract the characteristic information of the products, and the characteristic information is saved in the data set to establish the product data set to be sorted. Exemplarily, the product data set to be sorted includes the image data of the product and the corresponding product location data and label data.

[0041] Through the above process, the product movement data on the conveyor belt is obtained, and the shooting parameters of the recognition function module are preset based on this data. Then, the recognition function module performs image data acquisition, and finally establishes a data set of products to be sorted. Ensure that the relevant information of the target product can be obtained clearly and accurately, which is convenient for subsequent sorting decision control.

[0042] In some embodiments, the image data collection of the products to be sorted is performed by the recognition function module, and the image data collection result is used to establish the product data set to be sorted, which also includes:

[0043] The identification function module is used to collect data of the products to be sorted, and based on the result of the data collection, fuzzy identification of the label position is performed to establish a product position profile and a relative fuzzy positioning result of the products to be sorted, wherein the product position profile includes product position data;

[0044] Based on the fuzzy positioning result, the identification function module is updated, secondary data collection of the products to be sorted is performed with the updated identification function module, label information is read based on the secondary data collection result, and label data is established;

[0045] A data set of products to be sorted is established using the label data and the product location profile.

[0046] Optionally, the recognition function module controls the image acquisition device to perform the first data acquisition on the products to be sorted on the conveyor belt. The recognition function module performs a data acquisition on the products to be sorted. This involves using a camera or other image sensor to shoot the product and obtain a data acquisition result of the product. Then, based on the result of the data acquisition, the image processing and pattern recognition technology is used to perform fuzzy recognition of the label position, and the collected image data is processed and analyzed to determine the approximate position of the product label.

[0047] Among them, fuzzy recognition refers to the recognition when the label position is not clear or there is a certain degree of ambiguity. Specifically, the product may be placed at any position on the conveyor belt in any posture, which may cause the label position to be unstable or blocked.

[0048] For example, first, a multi-scale image detection method is used to detect images at different scales through anchor frames of different sizes to adapt to label positions of different sizes. Then, an image feature matching algorithm, such as SIFT, SURF, ORB, etc., is used to match feature points in the image to determine the position of the label, obtain the product position outline and relative fuzzy positioning results, where the product position outline refers to the approximate shape of the product in the image, and the relative fuzzy positioning result is the approximate position of the product in the image.

[0049] Optionally, the product location profile includes product location data. Exemplarily, the product location data identifier may be the location coordinates of any two pairs of diagonal points of the product anchor frame or the location coordinates of the center point of the product anchor frame.

[0050] Optionally, the recognition function module is updated according to the result of the fuzzy positioning, including adjusting the parameters of the image acquisition device, moving the position of the image acquisition device, or adjusting the brightness of the fill light, so as to more accurately capture the product label.

[0051] Furthermore, the updated recognition function module is used to collect secondary data of the products to be sorted, and the label information is read based on the secondary data collection results, including using image processing technology to process the second collected image, and extracting effective features in the barcode image, such as the width, spacing, angle, etc. of the barcode through deep learning models, such as convolutional neural networks (CNN), to perform end-to-end label position detection and recognition to read the label information on the product. Since the image quality collected the second time is higher, more accurate label information can be obtained.

[0052] Further, according to the label data and the product location profile, a data set of products to be sorted is established, including the associated matching label data and the product location profile, and a data structure is defined to perform structured storage on the associated matching label data and the product location profile, thereby obtaining the data set of products to be sorted.

[0053] The two-stage image data acquisition and processing process helps to more accurately identify and locate products and read product information, thereby improving the accuracy and efficiency of product sorting. At the same time, structured storage generates a data set of products to be sorted, which helps to quickly call data and keep subsequent data archives.

[0054] In some implementations, the image data collection of the product to be sorted is performed by the recognition function module, and further includes:

[0055] Determine whether the collection result is a label error result;

[0056] If the collection result is a tag error result, an error exception response instruction is generated;

[0057] The maximum safety level of the batch is called through the error exception response instruction, and the error sorting channel is located;

[0058] The sorting function module is controlled based on the maximum safety level and the error sorting channel.

[0059] Optionally, when the recognition function module collects and processes image data, possible errors are detected and processed. First, it is determined whether the result of the image data collection and processing is a label error result. The label error result refers to the presence of label information that cannot be identified or parsed in the detected image data, such as missing labels, label obstructions, label damage, etc. If the collection result is a label error result, an error exception response instruction is generated, wherein the error exception response instruction contains detailed information about the error, such as the type and location of the error. Then, through the error exception response instruction, the maximum safety level of the batch is called, that is, the safety requirement level of the product with the highest safety requirement in the sorting batch is determined, and the erroneous sorting channel is located, thereby determining the priority and processing point for handling the error. Finally, the sorting function module is controlled according to the maximum safety level and the erroneous sorting channel.

[0060] Exemplarily, based on the maximum safety level and the erroneous sorting channel, the sorting function module is controlled, including pausing the erroneous sorting channel, picking out products with label errors, redirecting product direction, manual disposal, etc.

[0061] The above error handling mechanism helps to timely detect and handle errors that occur during the sorting process, thereby improving the accuracy and reliability of product sorting. By calling the maximum safety level of the batch, it can also ensure that the safety and quality of the product can be guaranteed to the greatest extent when handling errors.

[0062] Calling the label data in the data set of the product to be sorted, and determining the target sorting channel based on the label data;

[0063] Optionally, label data is obtained from the product data set to be sorted, wherein the product data set to be sorted includes product information in all pending sorting tasks, and the label data includes product type, size, weight, color, destination, etc. Specifically, the collected label image is decoded to obtain the label content, which is the unique identification code of the product; then, the product data set to be sorted is traversed according to the label content to perform matching and calling of the label data.

[0064] Exemplarily, the channel to which the product should be sorted is determined based on the label data. This includes determining the target sorting channel based on the product type or product destination displayed by the label data and based on a preset sorting strategy or sorting path. The preset sorting strategy or sorting path can be represented as a decision tree, a rule engine, or a machine learning model.

[0065] Calling the product position data in the sorting product data set, and reading the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result;

[0066] Optionally, the conveyor belt is equipped with a weight detection function, which obtains product position data and activates sensors or weighing devices on the conveyor belt at corresponding positions to measure the weight of the products to be sorted in real time and obtain weight data reading results.

[0067] Optionally, the weight of the product to be sorted is measured in real time to obtain the weight data reading result, including processing and analyzing the real-time measured weight data to improve the accuracy of the weight data reading result. Exemplarily, it includes performing statistical analysis or filtering and noise reduction on the real-time measured weight data over a period of time to obtain typical weight data and store it as the weight data reading result.

[0068] Acquiring a product safety level of the product to be sorted based on the label data, performing balance wheel sorting path fitting based on the product safety level, the product location data and the target sorting channel, and establishing a balance wheel sorting path fitting result;

[0069] Exemplarily, the product safety level of the product to be sorted is obtained based on the label data, and the balance wheel sorting path fitting is performed based on the product safety level, product location data and target sorting channel. First, the safety level of the product is obtained from the label data, wherein the safety level is a quantitative safety rating determined according to the type, size, weight, shape and other characteristics of the product, reflecting the safety demand level of the product. For example, fragile products may have a higher safety level, while harder products may have a lower safety level. Then, the sorting path of the product on the conveyor belt is determined according to the safety level, location data and target sorting channel of the product, and the balance wheel sorting path fitting result is generated. Specifically, the method for determining the sorting path includes path planning based on optimization algorithm, path generation based on decision tree, path call based on rule engine, etc. Among them, the balance wheel sorting path fitting result is the optimal sorting path fitted, and the balance wheel sorting path fitting result includes specific parameters of the path, such as the starting point and end point of the path, the length of the path, the control point of the path, etc.

[0070] Inputting the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result to generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds;

[0071] Optionally, the balance wheel sorting path fitting result and the weight data reading result are input into the balance wheel cooperative control network. The balance wheel cooperative control network is an automated control decision rule embedded in the lower computer in the transmission path. The balance wheel cooperative control network determines the optimal response angle and speed of the balance wheel according to the input data, and generates the balance wheel cooperative control result.

[0072] Optionally, the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds. That is, the balance wheel cooperative control result can independently control the response angle and speed of each balance wheel to achieve more accurate and efficient sorting operations.

[0073] The operation control of the sorting balance machine is performed based on the balance cooperative control result.

[0074] In some embodiments, the operation control of the sorting balance wheel machine is performed based on the balance wheel cooperative control result, and further includes:

[0075] Perform profile certification of the conveyor belt contact surface based on the product position profile and establish profile certification results;

[0076] If the irregular shape authentication result is a confirmation result, the packaging information of the irregular shape and the irregular conveyor belt contact surface is collected based on the secondary data collection result to establish the irregular shape additional information;

[0077] The control compensation of the balance wheel cooperation control result is performed based on the special-shaped additional information, and the operation control of the sorting balance wheel machine is performed based on the balance wheel cooperation result after control compensation.

[0078] Optionally, the conveyor contact surface is certified for profile based on the position profile of the product. If the shape or size of the product does not meet expectations, it is identified as a profiled product and a profile certification result is established.

[0079] Furthermore, if the special-shaped authentication result confirms that the product is a special-shaped product, the packaging information of the special-shaped shape and the contact surface of the special-shaped conveyor belt is collected according to the secondary data collection result, the special-shaped shape information and the shape information of the contact surface of the special-shaped conveyor belt are obtained, and the special-shaped additional information is established.

[0080] Optionally, the balance wheel cooperative control result is compensated according to the special-shaped additional information, including adjusting the response angle, rotation speed and other parameters of the balance wheel to adapt to the characteristics of the special-shaped products and ensure the transportation stability of the special-shaped products. Then, the adjustment parameters are updated to the balance wheel cooperative result, and the operation control of the sorting balance wheel machine is performed by controlling the compensated balance wheel cooperative result. Through the above process, it is ensured that the sorting balance wheel machine can effectively handle special-shaped products while maintaining the accuracy and efficiency of the sorting operation.

[0081] In some implementations, the method further includes:

[0082] Performing a steady-state evaluation of the cooperative control of the balance wheel cooperative control result to establish a steady-state value;

[0083] configuring a limited space based on the steady-state value and the cooperative control result of the balance wheel, wherein the limited space contains P balance wheels, and P is less than N;

[0084] The coordination parameters of the P balance wheels in the limited space are set, and the operation control of the sorting balance wheel machine is performed according to the coordination parameters and the coordination control result of the balance wheels.

[0085] Optionally, based on the product's dimensional information and weight information, the steady state of the balance wheel cooperative control result is evaluated in combination with the balance wheel cooperative control result. This involves performing simulation based on a finite element analysis method to analyze the operating state of the balance wheel, evaluate the operating stability, and obtain a steady-state value.

[0086] Furthermore, the limited space is configured according to the steady-state value and the balance wheel cooperative control result. The limited space is one or a group of physical spaces on the balance wheel machine, which contains P balance wheels, and P is less than N, that is, the number of balance wheels in the limited space is less than the total number of balance wheels. Exemplarily, the limited space is located on both sides of the balance wheel in the balance wheel cooperative control result, and the direction of the balance wheel in the limited space is biased towards the balance wheel in the balance wheel cooperative control result, so as to provide reset guidance and reset power for the product when the product slips, ensuring the normal operation of the sorting balance wheel machine.

[0087] In some implementations, the method further includes:

[0088] Perform test verification of sorting results and establish a test verification set;

[0089] Providing test feedback on sorting accuracy and sorting control effect based on the test verification set;

[0090] The balance wheel cooperative control network is optimized according to the test feedback results, and the optimized balance wheel cooperative control network is used to control the operation of the subsequent sorting balance wheel machine.

[0091] Optionally, the test verification and optimization of the sorting results are performed through a test verification set to improve the sorting accuracy and control effect of the balance wheel cooperative control network.

[0092] Specifically, first, based on the results of the balance wheel collaborative control, a series of test products are selected to establish a test verification set. Then, the sorting results are tested and verified in the test verification set to obtain the accuracy of the sorting operation and the sorting control effect (such as sorting efficiency, etc.). Then, according to the sorting accuracy and sorting control effect, the balance wheel collaborative control network is optimized. This includes adjusting the parameters of the network or changing the structure of the network to improve the sorting accuracy and control effect. Finally, the operation control of the subsequent sorting balance wheel machine is carried out through the optimized balance wheel collaborative control network, thereby improving the accuracy and efficiency of the sorting operation.

[0093] In some implementations, the method further includes:

[0094] Establishing a self-checking iteration cycle, wherein the self-checking iteration cycle is associated with the surface state of the balance wheel;

[0095] The surface state of the balance wheel is self-checked and updated during the self-checking iteration cycle, and the balance wheel correction data is generated based on the self-checking and updating results;

[0096] The balance wheel cooperative control result is corrected based on the balance wheel correction data, and the operation control of the sorting balance wheel machine is completed with the corrected balance wheel cooperative control result.

[0097] Optionally, a self-check update and correction strategy is configured for the sorting balance wheel machine. First, a self-check iteration cycle is established, which is related to the working scenario and is used to regularly check and update the surface state of the balance wheel. Exemplarily, the greater the working intensity of the sorting balance wheel machine, the shorter the self-check iteration cycle. Then, within the self-check iteration cycle, the surface state of the balance wheel is self-checked and updated. This includes using sensors or other devices to detect the surface of the balance wheel, and updating the surface state data based on the detection results. Among them, the surface state data includes the surface roughness of the balance wheel, the surface damage area, the angle offset, etc.

[0098] Furthermore, based on the self-check update result, balance correction data is generated. The balance correction data includes a correction value or correction parameter of the balance surface state, which is used to adjust the operating state of the balance. Exemplarily, it includes a balance roughness adjustment value, a balance angle correction value and a correction direction, etc.

[0099] Furthermore, the balance wheel cooperative control result is corrected according to the balance wheel correction data, including adjusting the balance wheel angle, optimizing the balance wheel surface roughness, etc., to ensure that the balance wheel can be effectively sorted.

[0100] Through the corrected balance wheel cooperative control result, the operation control of the sorting balance wheel machine is completed to improve the stability and sorting efficiency of the sorting balance wheel machine and ensure its good performance in long-term operation.

[0101] In summary, the operation control method of a modular sorting pendulum machine provided by the present invention has the following technical effects:

[0102] By dividing the sorting pendulum machine into functional modules, a functional module division result is established, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled pendulums; obtaining the transmission data of the conveyor belt, presetting the shooting parameters of the identification functional module based on the transmission data, and performing image data acquisition of the products to be sorted through the identification functional module, and establishing a data set of products to be sorted based on the image data acquisition results; calling the label data in the data set of products to be sorted, and determining the target sorting channel based on the label data; calling the products in the data set of sorted products The method uses the conveyor belt to read the weight data of the product to be sorted and obtain the weight data reading result; obtains the product safety level of the product to be sorted based on the label data, performs balance wheel sorting path fitting based on the product safety level, product location data and target sorting channel, and establishes the balance wheel sorting path fitting result; inputs the balance wheel sorting path fitting result and the weight data reading result into the balance wheel cooperative control network to generate the balance wheel cooperative control result, wherein the balance wheel cooperative control result includes the response angle and the balance wheel speed of N independently controlled balance wheels; and executes the operation control of the sorting balance wheel machine based on the balance wheel cooperative control result. Thus, the technical effect of improving configuration flexibility and reducing operation upgrade costs is achieved.

[0103] Embodiment 2

[0104] Figure 2 Schematic diagram of the structure of a modular sorting pendulum machine operation control device of the present invention. For example, Figure 1 The flow chart of the operation control method of a modular sorting pendulum machine of the present invention can be shown as follows: Figure 2 The structure shown is implemented.

[0105] Based on the same concept as the operation control method of a modular sorting pendulum machine in the embodiment, the present invention also provides an operation control device for a modular sorting pendulum machine, including:

[0106] The module division component 11 is used to divide the sorting pendulum machine into functional modules and establish a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled pendulums;

[0107] An image data acquisition component 12 is used to acquire the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results;

[0108] A channel configuration component 13, used to call the label data in the product data set to be sorted, and determine the target sorting channel based on the label data;

[0109] The product characteristic acquisition component 14 is used to call the product position data in the sorting product data set, and read the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result;

[0110] The balance wheel sorting path fitting component 15 is used to obtain the product safety level of the product to be sorted based on the label data, perform balance wheel sorting path fitting based on the product safety level, the product position data and the target sorting channel, and establish the balance wheel sorting path fitting result;

[0111] A balance wheel cooperative control component 16, used to input the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result, and generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds;

[0112] The operation control execution component 17 is used to execute the operation control of the sorting balance wheel machine based on the balance wheel cooperative control result.

[0113] The image data acquisition component 12 includes:

[0114] A fuzzy recognition unit, used to collect data of the products to be sorted using the recognition function module, perform fuzzy recognition of the label position based on the result of the data collection, and establish a product position profile and a relative fuzzy positioning result of the products to be sorted, wherein the product position profile includes product position data;

[0115] A label information reading unit, used to update the identification function module based on the fuzzy positioning result, perform secondary data collection of the product to be sorted with the updated identification function module, read the label information based on the secondary data collection result, and establish label data;

[0116] The association construction unit is used to establish a data set of products to be sorted by using the label data and the product location profile.

[0117] Furthermore, the operation control execution component 17 includes:

[0118] A special-shaped authentication unit is used to perform special-shaped authentication of the conveyor belt contact surface based on the product position profile and establish the special-shaped authentication result;

[0119] A shape additional collection unit, for collecting packaging information of the special-shaped shape and the contact surface of the special-shaped conveyor belt based on the secondary data collection result, and establishing special-shaped additional information if the special-shaped authentication result is a confirmation result;

[0120] The special-shaped compensation unit is used to perform control compensation on the balance wheel cooperation control result based on the special-shaped additional information, and execute operation control of the sorting balance wheel machine based on the balance wheel cooperation result after control compensation.

[0121] Furthermore, the operation control execution component 17 also includes an assisting control unit, which is used to:

[0122] Performing a steady-state evaluation of the cooperative control of the balance wheel cooperative control result to establish a steady-state value;

[0123] configuring a limited space based on the steady-state value and the cooperative control result of the balance wheel, wherein the limited space contains P balance wheels, and P is less than N;

[0124] The coordination parameters of the P balance wheels in the limited space are set, and the operation control of the sorting balance wheel machine is performed according to the coordination parameters and the coordination control result of the balance wheels.

[0125] Furthermore, the image data acquisition component 12 also includes:

[0126] A label error determination unit is used to determine whether the collection result is a label error result;

[0127] The exception instruction unit is used to generate an error exception response instruction if the collection result is a tag error result;

[0128] A positioning unit, used to call the maximum safety level of the batch through the error exception response instruction and locate the error sorting channel;

[0129] The abnormal response unit is used to control the sorting function module based on the maximum safety level and the erroneous sorting channel.

[0130] Furthermore, the operation control execution component 17 also includes a test feedback unit, which is used to:

[0131] Perform test verification of sorting results and establish a test verification set;

[0132] Providing test feedback on sorting accuracy and sorting control effect based on the test verification set;

[0133] The balance wheel cooperative control network is optimized according to the test feedback results, and the optimized balance wheel cooperative control network is used to control the operation of the subsequent sorting balance wheel machine.

[0134] Furthermore, the operation control execution component 17 also includes a period correction unit, which is used to:

[0135] Establishing a self-checking iteration cycle, wherein the self-checking iteration cycle is associated with the surface state of the balance wheel;

[0136] The surface state of the balance wheel is self-checked and updated during the self-checking iteration cycle, and the balance wheel correction data is generated based on the self-checking and updating results;

[0137] The balance wheel cooperative control result is corrected based on the balance wheel correction data, and the operation control of the sorting balance wheel machine is completed with the corrected balance wheel cooperative control result.

[0138] It should be understood that the embodiments mentioned in this specification focus on their differences from other embodiments. The specific embodiments in the aforementioned embodiment one are also applicable to the operation control device of a modular sorting pendulum machine described in embodiment two. For the sake of brevity of the specification, they will not be further elaborated here.

[0139] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the above-mentioned embodiments. It should be understood that those skilled in the art can still modify the technical solutions recorded in the above-mentioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A method for controlling the operation of a modular sorting pendulum machine, characterized in that: The method comprises: Performing functional module division on the sorting balance wheel machine and establishing a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled balance wheels; Acquire the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results; Calling the label data in the data set of the product to be sorted, and determining the target sorting channel based on the label data; Calling the product position data in the sorting product data set, and reading the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result; Acquiring a product safety level of the product to be sorted based on the label data, performing balance wheel sorting path fitting based on the product safety level, the product location data and the target sorting channel, and establishing a balance wheel sorting path fitting result; Inputting the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result to generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds; Execute the operation control of the sorting balance wheel machine based on the balance wheel cooperative control result; The method of collecting image data of the products to be sorted by using the recognition function module and establishing a data set of the products to be sorted based on the image data collection results also includes: The identification function module is used to collect data of the products to be sorted, and based on the result of the data collection, fuzzy identification of the label position is performed to establish a product position profile and a relative fuzzy positioning result of the products to be sorted, wherein the product position profile includes product position data; Based on the fuzzy positioning result, the identification function module is updated, secondary data collection of the products to be sorted is performed with the updated identification function module, label information is read based on the secondary data collection result, and label data is established; Establishing a data set of products to be sorted by using the label data and the product location profile; The method of executing the operation control of the sorting balance wheel machine based on the balance wheel cooperative control result further includes: Perform profile certification of the conveyor belt contact surface based on the product position profile and establish profile certification results; If the irregular shape authentication result is a confirmation result, the packaging information of the irregular shape and the irregular conveyor belt contact surface is collected based on the secondary data collection result to establish the irregular shape additional information; The control compensation of the balance wheel cooperation control result is performed based on the special-shaped additional information, and the operation control of the sorting balance wheel machine is performed based on the balance wheel cooperation result after control compensation.

2. The method according to claim 1, characterized in that The method further comprises: Performing a steady-state evaluation of the cooperative control of the balance wheel cooperative control result to establish a steady-state value; configuring a limited space based on the steady-state value and the cooperative control result of the balance wheel, wherein the limited space contains P balance wheels, and P is less than N; The coordination parameters of the P balance wheels in the limited space are set, and the operation control of the sorting balance wheel machine is performed according to the coordination parameters and the coordination control result of the balance wheels.

3. The method according to claim 1, characterized in that The image data collection of the products to be sorted is performed by the recognition function module, and further includes: Determine whether the collection result is a label error result; If the collection result is a tag error result, an error exception response instruction is generated; The maximum safety level of the batch is called through the error exception response instruction, and the error sorting channel is located; The sorting function module is controlled based on the maximum safety level and the error sorting channel.

4. The method according to claim 1, characterized in that The method further comprises: Perform test verification of sorting results and establish a test verification set; Providing test feedback on sorting accuracy and sorting control effect based on the test verification set; The balance wheel cooperative control network is optimized according to the test feedback results, and the optimized balance wheel cooperative control network is used to control the operation of the subsequent sorting balance wheel machine.

5. The method according to claim 1, characterized in that The method comprises: Establishing a self-checking iteration cycle, wherein the self-checking iteration cycle is associated with the surface state of the balance wheel; The surface state of the balance wheel is self-checked and updated during the self-checking iteration cycle, and the balance wheel correction data is generated based on the self-checking and updating results; The balance wheel cooperative control result is corrected based on the balance wheel correction data, and the operation control of the sorting balance wheel machine is completed with the corrected balance wheel cooperative control result.

6. An operation control device for a modular sorting pendulum machine, characterized in that: The device comprises: A module division component, the module division component is used to divide the sorting pendulum machine into functional modules and establish a functional module division result, wherein the functional module division result includes an identification functional module and a sorting functional module, wherein the sorting functional module includes N independently controlled pendulums; An image data acquisition component, which is used to obtain the transmission data of the conveyor belt, pre-set the shooting parameters of the recognition function module based on the transmission data, and perform image data acquisition of the products to be sorted through the recognition function module, and establish a data set of products to be sorted based on the image data acquisition results; A channel configuration component, the channel configuration component is used to call the label data in the product data set to be sorted, and determine the target sorting channel based on the label data; A product characteristic acquisition component, the product characteristic acquisition component is used to call the product position data in the sorting product data set, and read the weight data of the product to be sorted by a conveyor belt to obtain the weight data reading result; A balance wheel sorting path fitting component, the balance wheel sorting path fitting component is used to obtain the product safety level of the product to be sorted based on the label data, perform balance wheel sorting path fitting based on the product safety level, the product position data and the target sorting channel, and establish a balance wheel sorting path fitting result; A balance wheel cooperative control component, the balance wheel cooperative control component is used to input the balance wheel cooperative control network according to the balance wheel sorting path fitting result and the weight data reading result, and generate a balance wheel cooperative control result, wherein the balance wheel cooperative control result includes N independently controlled balance wheel response angles and balance wheel speeds; An operation control execution component, the operation control execution component is used to execute the operation control of the sorting balance wheel machine according to the balance wheel cooperative control result; Among them, the image data acquisition component includes: A fuzzy recognition unit, used to collect data of the products to be sorted using the recognition function module, perform fuzzy recognition of the label position based on the result of the data collection, and establish a product position profile and a relative fuzzy positioning result of the products to be sorted, wherein the product position profile includes product position data; A label information reading unit, used to update the identification function module based on the fuzzy positioning result, perform secondary data collection of the product to be sorted with the updated identification function module, read the label information based on the secondary data collection result, and establish label data; An association building unit, used to build a data set of products to be sorted by using the label data and the product location profile; The operation control execution components include: A special-shaped authentication unit is used to perform special-shaped authentication of the conveyor belt contact surface based on the product position profile and establish the special-shaped authentication result; A shape additional collection unit, for collecting packaging information of the special-shaped shape and the contact surface of the special-shaped conveyor belt based on the secondary data collection result, and establishing special-shaped additional information if the special-shaped authentication result is a confirmation result; The special-shaped compensation unit is used to perform control compensation on the balance wheel cooperation control result based on the special-shaped additional information, and execute operation control of the sorting balance wheel machine based on the balance wheel cooperation result after control compensation.

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